#!/usr/bin/env python

PACKAGE = "sciurus17_msgs"

from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()

gen.add("return_delay_time", int_t, 0, "Return Delay time", 0, 0, 254)
gen.add("drive_mode", int_t, 0, "Drive Mode", 0, 0, 1)
gen.add("operation_mode", int_t, 0, "Operating Mode", 3, 0, 5)
gen.add("moving_threshold", int_t, 0, "Moving Threshold", 0, 10, 1023)
gen.add("homing_offset", int_t, 0, "Homing Offset", 0, -1044479, 1044479)
gen.add("temprature_limit", int_t, 0, "Temprature Limit", 80, 0, 100)
gen.add("max_vol_limit", int_t, 0, "Max Voltage Limit", 160, 95, 160)
gen.add("min_vol_limit", int_t, 0, "Min Voltage Limit", 95, 95, 160)
gen.add("current_limit", int_t, 0, "Current Limit", 1193, 0, 1193)
gen.add("torque_enable", bool_t, 0, "Torque Enable", True)
gen.add("velocity_i_gain", int_t, 0, "Velocity I Gain", 1920, 0, 16383)
gen.add("velocity_p_gain", int_t, 0, "Velocity P Gain", 100, 0, 16383)
gen.add("position_d_gain", int_t, 0, "Position D Gain", 0, 0, 16383)
gen.add("position_i_gain", int_t, 0, "Position I Gain", 0, 0, 16383)
gen.add("position_p_gain", int_t, 0, "Position P Gain", 800, 0, 16383)

exit(gen.generate(PACKAGE, PACKAGE, "ServoParameter"))
